1 Department of Informatics and Mathematical Modeling, Technical University of Denmark2 Mathematical Statistics, Department of Informatics and Mathematical Modeling, Technical University of Denmark3 Department of Applied Mathematics and Computer Science, Technical University of Denmark
For sampled dynamical systems the delta-operator is an appealing alternative to the conventional shift operator since at rapid sampling rates it shows better numerical properties and a closer rapprochement to the continuous-time description. Thus, the structural information is easy to interpret in models and designs based on the delta-operator. The GPC controller is interesting since it is a controller that successfully has been applied to many industrial process during the last decade. The present paper discusses an emulator-based GPC, a controller design intended for fast sampled adaptive control systems where the conventional q-based techniques fail due to poor word-length characteristics.
System and Control Letters, 1996, Vol 28, Issue 5, p. 291-301